# SPDX-FileCopyrightText: Copyright (c) 2025 The ProtoMotions Developers
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
from protomotions.robot_configs.base import (
RobotConfig,
RobotAssetConfig,
ControlConfig,
ControlType,
SimulatorParams,
)
from protomotions.simulator.isaacgym.config import (
IsaacGymSimParams,
IsaacGymPhysXParams,
)
from protomotions.simulator.isaaclab.config import (
IsaacLabSimParams,
IsaacLabPhysXParams,
)
from protomotions.simulator.genesis.config import GenesisSimParams
from protomotions.simulator.newton.config import NewtonSimParams
from protomotions.components.pose_lib import ControlInfo
from typing import List, Dict
from dataclasses import dataclass, field
# Armature constants for different joint types based on torque capabilities
ARMATURE_300 = 0.040 # High torque joints (knees - 300 N⋅m)
ARMATURE_200 = 0.030 # Medium-high torque joints (hips, torso - 200 N⋅m)
ARMATURE_60 = 0.010 # Medium torque joints (ankle pitch - 60 N⋅m)
ARMATURE_40 = (
0.005 # Medium-low torque joints (shoulder pitch/roll, ankle roll - 40 N⋅m)
)
NATURAL_FREQ = 10 * 2.0 * 3.1415926535 # 10Hz
DAMPING_RATIO = 2.0
STIFFNESS_300 = ARMATURE_300 * NATURAL_FREQ**2
STIFFNESS_200 = ARMATURE_200 * NATURAL_FREQ**2
STIFFNESS_60 = ARMATURE_60 * NATURAL_FREQ**2
STIFFNESS_40 = ARMATURE_40 * NATURAL_FREQ**2
DAMPING_300 = 2.0 * DAMPING_RATIO * ARMATURE_300 * NATURAL_FREQ
DAMPING_200 = 2.0 * DAMPING_RATIO * ARMATURE_200 * NATURAL_FREQ
DAMPING_60 = 2.0 * DAMPING_RATIO * ARMATURE_60 * NATURAL_FREQ
DAMPING_40 = 2.0 * DAMPING_RATIO * ARMATURE_40 * NATURAL_FREQ
[docs]
@dataclass
class H1_2RobotConfig(RobotConfig):
common_naming_to_robot_body_names: Dict[str, List[str]] = field(
default_factory=lambda: {
"all_left_foot_bodies": ["left_ankle_roll_link"],
"all_right_foot_bodies": ["right_ankle_roll_link"],
"all_left_hand_bodies": ["left_wrist_yaw_link"],
"all_right_hand_bodies": ["right_wrist_yaw_link"],
"head_body_name": ["head_aux"],
"torso_body_name": ["torso_link"],
}
)
trackable_bodies_subset: List[str] = field(
default_factory=lambda: [
"torso_link",
"head_aux",
"right_ankle_roll_link",
"left_ankle_roll_link",
"left_wrist_yaw_link",
"right_wrist_yaw_link",
]
)
default_root_height: float = 1.03
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/h1_2_box_feet.xml",
usd_asset_file_name="usd/h1_2_box_feet/h1_2_box_feet.usda",
usd_bodies_root_prim_path="/World/envs/env_.*/Robot/pelvis/",
replace_cylinder_with_capsule=True,
thickness=0.01,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
density=0.001,
angular_damping=0.0,
linear_damping=0.0,
)
)
control: ControlConfig = field(
default_factory=lambda: ControlConfig(
control_type=ControlType.BUILT_IN_PD,
override_control_info={
# Hip joints (200 N⋅m, 23 rad/s)
".*_hip_(yaw|pitch|roll)_joint": ControlInfo(
stiffness=STIFFNESS_200,
damping=DAMPING_200,
effort_limit=200,
velocity_limit=50,
armature=ARMATURE_200,
),
# Knee joints (300 N⋅m, 14 rad/s)
".*_knee_joint": ControlInfo(
stiffness=STIFFNESS_300,
damping=DAMPING_300,
effort_limit=300,
velocity_limit=50,
armature=ARMATURE_300,
),
# Ankle pitch joints (60 N⋅m, 9 rad/s)
".*_ankle_pitch_joint": ControlInfo(
stiffness=2 * STIFFNESS_60,
damping=2 * DAMPING_60,
effort_limit=60,
velocity_limit=50,
armature=2 * ARMATURE_60,
),
# Ankle roll joints (40 N⋅m, 9 rad/s)
".*_ankle_roll_joint": ControlInfo(
stiffness=2 * STIFFNESS_40,
damping=2 * DAMPING_40,
effort_limit=40,
velocity_limit=50,
armature=2 * ARMATURE_40,
),
# Torso joint (200 N⋅m, 23 rad/s)
"torso_joint": ControlInfo(
stiffness=STIFFNESS_200,
damping=DAMPING_200,
effort_limit=200,
velocity_limit=50,
armature=ARMATURE_200,
),
# Shoulder pitch/roll joints (40 N⋅m, 9 rad/s)
".*_shoulder_(pitch|roll)_joint": ControlInfo(
stiffness=STIFFNESS_40,
damping=DAMPING_40,
effort_limit=40,
velocity_limit=50,
armature=ARMATURE_40,
),
# Shoulder yaw joints (18 N⋅m, 20 rad/s)
".*_shoulder_yaw_joint": ControlInfo(
stiffness=STIFFNESS_40,
damping=DAMPING_40,
effort_limit=18,
velocity_limit=50,
armature=ARMATURE_40,
),
# Elbow joints (18 N⋅m, 20 rad/s)
".*_elbow_joint": ControlInfo(
stiffness=STIFFNESS_40,
damping=DAMPING_40,
effort_limit=18,
velocity_limit=50,
armature=ARMATURE_40,
),
# Wrist joints (19 N⋅m, 31.4 rad/s)
".*_wrist_(roll|pitch|yaw)_joint": ControlInfo(
stiffness=STIFFNESS_40,
damping=DAMPING_40,
effort_limit=19,
velocity_limit=50,
armature=ARMATURE_40,
),
},
)
)
simulation_params: SimulatorParams = field(
default_factory=lambda: SimulatorParams(
isaacgym=IsaacGymSimParams(
fps=100,
decimation=2,
substeps=2,
physx=IsaacGymPhysXParams(
num_position_iterations=8,
num_velocity_iterations=4,
max_depenetration_velocity=1,
),
),
isaaclab=IsaacLabSimParams(
fps=200,
decimation=4,
physx=IsaacLabPhysXParams(
num_position_iterations=8,
num_velocity_iterations=4,
max_depenetration_velocity=1,
),
),
genesis=GenesisSimParams(
fps=100,
decimation=2,
substeps=2,
),
newton=NewtonSimParams(
fps=200,
decimation=4,
),
)
)